standard specifications presto...

Standard specifications

Presto MC35/50/70-01-AX20

5th edition: June 2009

NACHI-FUJIKOSHI CORP.

Robot Production Plant

0906, SMCEN-021-005, 001

Table of contents

1. Outline........................................................................................................................ 1

1.1 Robot .................................................................................................................... 1

1.2 AX20 controller...................................................................................................... 1

2. Characteristic ............................................................................................................. 1

2.1 Robot .................................................................................................................... 1

2.2 AX20 controller...................................................................................................... 2

3. Basic specifications.................................................................................................... 3

4. Robot dimensions and working envelope................................................................... 4

5. Details of tool mounting plate ..................................................................................... 5

6. Details of upper part of forearm.................................................................................. 6

7. Installation procedure................................................................................................. 7

7.1 Installation space .................................................................................................. 7

7.2 Accuracy of installation surface............................................................................. 8

7.3 Maximum robot generative force........................................................................... 8

8. Allowable wrist load.................................................................................................... 9

8.1 Torque map ......................................................................................................... 10

8.2 Wrist load conditions........................................................................................... 11

9. Option specifications ................................................................................................ 13

10. Application wiring and piping diagram .................................................................... 15

10.1 Wiring and piping diagram ................................................................................ 15

10.2 Details of base and flame.................................................................................. 16

10.3 Detailed diagram of the connectors .................................................................. 17

11. Bypass Cable ......................................................................................................... 19

11.1 Bypass cable connection outline figure (Option) ............................................... 19

12. Transport procedure............................................................................................... 20

13. Installation (specification which contains a robot) .................................................. 21

14. Paint color .............................................................................................................. 21

15. Warranty................................................................................................................. 21

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1. Outline “NACHI ROBOT” has used mechatronic techniques, cultivated throughout the last few decades, to supply robots suited for industries utilizing welding, spray painting and the material handling techniques.

1.1 Robot

"Presto MC series" is a compact handling robot with a powerful load capacity. “Presto MC50” is the basic model, and 3 types of robots are featured in the MC series.

Table 1.1 Robot specifications

Load weight

Installation 35 kg 50 kg 70 kg

Floor mount Ceiling mount (option)

Wall mount (option) Angle mount (option)

Presto MC35-01 Presto MC50-01 Presto MC70-01

1.2 AX20 controller

The AX20 controller is high performance robot control equipment based on open concept which used the personal computer as the base. A de facto standard OS (Windows NT embedded+RTOS) is adopted as an operating system. Moreover, safe equipment, such as double emergency stop circuit and 3 position ENABLE SW, is carried as standard. The standard AX controller is divided into two specifications; Domestic (Japan) and Overseas types as shown below. AX20-0000 Japanese domestic specifications AX20-1101 Overseas specification (North American specifications) AX20-2101 Overseas specification (CE specifications)

2. Characteristic

2.1 Robot

1. The swivel interference radius is small enough to make more free space. This fact enables high-density layouts of the robots.

2. It came to be able to handle loading of heavy weights, because the wrist became powerful.

3. Applicability has improved, because the stroke in the back and forth became the maximum in its class.

4. The application that can be applied has extended, because the environmental resistance became IP67 in wrist (standard), IP65 in main body (motor cover option) and IP67 (full cover option).

5. It became easy to add the cables and the hoses for the application by installing “S-Trac" and “A-Trac".

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2.2 AX20 controller

1. It is compact even if it adds abundant functions.

2. Large-sized LCD of a color graphic display was adopted as the Teaching pendant. Thereby more easy and intelligible operation is attained and large shortening of teaching time can be aimed at.

3. It is possible to build the optimal operating environment for a robot's work system by the customize function of menus, such as various parameter setup and a peripheral equipment setup, or a screen.

4. Advanced motion control and the adoption of full digital servo based on modern control theory realized smooth control at high speed.

5. Loss reduction of a power device was aimed at and improvement in reliability of servo amplifier was realized.

6. It has equipped with safe equipment, such as double emergency stop circuit limit switch (Category 4 conformity) and 3 position ENABLE SW, as standard, and ANSI/RIA 15.06-1999 is supported.

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3. Basic specifications

Robot model: 【Presto MC35-01】【Presto MC50-01】【Presto MC70-01】

Item Specifications

Robot model Presto MC35-01 Presto MC50-01 Presto MC70-01

Construction Articulated

Number of axis 6

Drive system AC servo motor

J1 ±2.88 rad (±165 °)

J2 ＋2.97 ～－0.79 rad (＋170 ～－45 °)

J3 ＋4.54 ～－2.55 rad (＋260 ～－146 °)

J4 ±6.28 rad (±360 °)

J5 ±2.18 rad (±125 °)

Max. working envelope

J6 ±7.84 rad (±450 °)

J1 3.23 rad/s (185 °/s) 3.14 rad/s (180 °/s) 3.05 rad/s (175 °/s)

J2 3.14 rad/s (180 °/s) 2.53 rad/s (145 °/s)




Max. speed


Wrist 35 kg 50 kg 70 kg Max. pay load

Forearm 15 kg

J4 160 N･m 210 N･m 300 N･m

J5 160 N･m 210 N･m 300 N･m Allowable static load

torque

J6 90 N･m 130 N･m 150 N･m

J4 16 kg･m2 30 kg･m

2

J5 16 kg･m2 30 kg･m

2

Allowable moment of inertia *2

J6 5 kg･m2 12 kg･m

2

Position repeatability *3 ±0.07 mm

Air pressure 0.49 MPa (5.0 kgf/cm2) or less

Ambient temperature 0 ～ 45 ℃

Robot type *2 Floor mount

Body IP54 (standard), IP65 (motor cover option), IP67 (full cover option)Environmental resistance*3 Wrist IP67 (standard)

Robot mass 640 kg

*1: This value changes by placement and load conditions of a wrist. *2: Ceiling mount, wall mount and angle mount are the options. *3: Liquid such as organic compound, acidity, alkalinity, chlorine or gasoline cutting fluid which deteriorates the seal material are not available to use.

※ The specification and externals described in this specifications might change without a previous

notice for the improvement.

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4. Robot dimensions and working envelope


Fig. 4.1 Robot dimensions and working envelope

(option)

Page-5

5. Details of tool mounting plate For the end effecter fixing bolts, use the mounting P.C.D. shown in Fig. 5.1.

Caution! Be sure to screw the M8 end effecter fixing bolts in the wrist not deeper than the screw depth in the mounting face. Screwing the bolts deeper than the screw depth may damage the wrist.


Fig. 5.1 Details of end effector mounting section

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6. Details of upper part of forearm Ancillary equipment can be mounted to the upper part of robot forearm.


Fig. 6.1 Details of upper part of forearm

TAP DEPTH TAP DEPTH

APPLICATION EQUIPMENT AREA

TAP DEPTH TAP DEPTH

(THE OPPOSITE SIDE IS

THE SAME)

(THE OPPOSITE SIDE IS

THE SAME)

Page-7

7. Installation procedure

7.1 Installation space

To install the robot, lock the swiveling base of the robot.

Caution! The mechanical stopper end is located in a position exceeding the specified

working envelope (software limit) of the J1 axis by 4°. To install the safety fence, with consideration given to the wrist configuration and the shape of end effector.

Danger! On the J1, J2, and J3 axes, the robot working envelope can be regulated for safety (optional function). Since optional parts should be installed to enable this function, do not independently move the standard parts (e.g. mechanical stopper).


Fig. 7.1 Robot installation space

REF

REF

TAP

Page-8

7.2 Accuracy of installation surface

In order to install the robot, strictly observe precautions listed below to cause no deformation in the swivel base.

Precautions

1. Make the deviation from the flatness of the 4 plates on the robot installation surface fall within 0.5 mm.

2. Make the deviation in height between the 4 places of each base plate installation surface and the robot

installation surface fall in the range of 0.5 mm (±0.25 mm).

Fig. 7.2 Accuracy of robot installation surface

3. If the 2 precautions above cannot be observed, use jack bolts to bring the four places into even contact with the installation surface.

Fig. 7.3 Jack bolt

7.3 Maximum robot generative force

Table 7.1 Maximum robot generative force

Robot model Maximum vertical generative force FV Maximum horizontal generative force FH Maximum vertical generative moment MV Maximum horizontal generative moment MH


23,700 N 16,700 N 32,900 N･m 28,300 N･m

Fig. 7.4 Maximum robot generative force


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8. Allowable wrist load

Caution!

A load fixed to the tip of the robot wrist is regulated by the allowable payload mass, allowable static load torque, and allowable moment of inertia. Furthermore, the allowable load torque varies with the actual load inertia moment. Strictly keep the wrist load within each allowable value.

1. Allowable pay load mass

Table 8.1 Allowable pay load mass

Robot model Allowable pay load mass

Presto MC35-01 35 kg or less



2. Allowable maximum static load torque

Table 8.2 Allowable maximum static load torque

Allowable static load torque Robot model

Around J4 axis Around J5 axis Around J6 axis

Presto MC35-01 160 N･m or less 160 N･m or less 90 N･m or less



3. Allowable maximum inertia moment

Table 8.3 Allowable maximum inertia moment

Allowable inertial moment Robot model

Around J4 axis Around J5 axis Around J6 axis

Presto MC35-01 16 kg･m2 or less 16 kg･m

2 or less 5 kg･m

2 or less


2 or less 12 kg･m

2 or less


2 or less 12 kg･m

2 or less

Referring to Fig. 8.1～Fig. 8.1.3, use the robot wrist on condition that the load gravity center falls in the

range shown in the wrist torque map.

Furthermore, referring to Fig. 8.2.1～Fig. 8.2.3, use the robot wrist on condition that the static load

torque and the moment of inertia fall in the range shown by the diagram in the wrist torque map.

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8.1 Torque map

Robot model: 【Presto MC35-01】

Fig. 8.1.1 Wrist axis torque map



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8.2 Wrist load conditions


Fig. 8.2.1 Wrist load conditions

Page-12





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9. Option specifications

○: Possible to correspond／－: Impossible to correspond

No. Item Specifications Robot model:

MC35/50/70-01

Chemical anchor specification

(Base plate + chemical anchor bolts)

○

OP-F1-020

Ore anchor specification

(Base plate + ore anchor bolts)

○

OP-F2-016

Leveling plate

(□180mm x t=25m 4 plates)

○

OP-F1-021

1 Installation parts

Installation bolts and washers

(Robot installation bolts and washers)

○

OP-F1-022

2 J1 axis 380° stopper J1 axis ±190° operation ○

OP-S3-011

3 J1 axis adjustable stopper

Restriction of J1 axis operation edge

(-2.88～+2.88 rad, every 0.26 rad) ○

OP-S5-016

4 J2 axis adjustable stopper

Restriction of J2 axis operation edge (From the advancement edge and the retreat edge to 0.52rad, every 0.26 rad)

○

OP-A5-020

5 J3 axis Working envelope restriction stopper

Restriction of J3 axis operation edge (The upper side 1.57 rad)

○

OP-A6-019

6 Adjustable limit switch J2, J3 axis adjustable limit switch －

With LS, 1 base －

No LS, 1 base －

With LS, 3 base － 7 J1 axis base LS For J1 axis zone detection

No LS, 3 base －

The dog installation plate attachment － 8 J2 axis arm clear LS

For J2 axis zeroing point and shelter pointconfirmation No dog installation plate －

9 J3 axis motor guard Protection of encoder and connectors of J3 axis motor

10 Wrist axis motor guard Protection of encoder and connectors of J4, J5, J6 axis motor Unnecessary

11 Air piping 2 systems (inside diameter φ6.5X2), from swivel base to J3 axis gear box Standard

12 Application signal line 20 wires (0.2 mm2), from swivel axis to J3 axis gear box Standard

13 Solenoid valve Built-in type －

14 Transfer jig Fork bracket ○

OP-S2-037

15 Transfer fixed jig Arm fixed jig (for J2 axis) Unnecessary

16 Zeroing pin & Zeroing block J1～J4 axis: Pin hole, J5, J6 axis: Block ○

OP-T2-052

17 J2 axis motor protection cover IP65 specification (Motor cover for J2 axis) ○

OP-C1-006

18 Full cover IP67 specification (Motor cover for J2 axis＋Wiring

protection cover)

○

OP-C2-004

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○: Possible to correspond／－: Impossible to correspond

No. Item Specifications Robot model:

MC35/50/70-01

19 Flange adaptor ISO Flange Standard

20 Bypass cable ○ *1

21 Wrist match mark Wrist axes reference position adjustment (sticker) ○

OP-N2-021

22 Cable ID registration cable ○

MR20-OP03-A

23 Bearing installation jig

for J1 axis J1 axis motor shaft portion

○ *2

KP-ZJ-007

24 Bearing installation jig

for wrist axes J1 - J6 axis motor shaft portions

○ *2

KP-ZJ-008

*1: It is scheduled to correspond since August, 2009.

*2: It is scheduled to correspond since June, 2009.

※ The specification and externals described in this specifications might change without a previous

notice for the improvement.

Page-15

10. Application wiring and piping diagram

10.1 Wiring and piping diagram


Fig. 10.1 Wiring and piping diagram

AIR PIPING

APPLICATION SIGNALS

ADDITIONAL AXIS (ENCODER)

ADDITIONAL AXIS (MOTOR)

Page-16

10.2 Details of base and flame


Fig. 10.2 Wiring and piping for application on arm

Fig. 10.3 Wiring and piping for application on base

PERFORATABLE AREA

Application cables are inside the box.

When pulling them out from the box to use, drill the cover and install a cable clamp.

The cable clamp must be water-proof type.

Place the wires so that they do

not touch the motor.

Standard specification

Full cover option specification

J5 MOTOR

J6 MOTOR

APPLICATION SIGNALS

POWER / ENCODER LINES

AIR 2 OUT TUBE

AIR 1 OUT TUBE

BJ1 PANEL

BJ3BOX COVER

AIR 2 OUT TUBE

AIR 1 OUT TUBE

Do not install anything on

the BJ1 panel.

Use air pressure not more than 0.49MPa.

AIR 1 IN

AIR 2 IN

Page-17

10.3 Detailed diagram of the connectors


10.3.1 Details of the application connecter BJ1 side (connector)

Partner connecter

Wire-side shell: JFM-WSA-4-A (JST)

Guide plate A kit: JFM-GPAK-4 (JST)

Receptacle housing: JFM2FDN-22V-K (JST)

Receptacle contact:

a: SJ2F-01GF-P1.0 (JST) (0.20 ∼ 0.50sq)

b: SJ2F-21GF-P1.0 (JST) (0.30 ∼ 0.75sq)

Manual crimp tool: for a: YRS-8861 for b: YRF-1120

Cable diameter suitable for wire-side shell: φ26.2～φ28.0

(This figure is drawn seeing from the backside of the robot.)

Fig. 10.4 Details of connectors for application (BJ1 side)

BJ3 side (connector)

Connector type (CN61)

Housing: SMP-10V-BC (JST)

Partner connector

Housing: SMR-10V-B(JST)

Contact: SYM-001T-P0.6 (Applicable wire : AWG#22～28)

Pressure tool: YRS-121 Connector type (CN62)

Housing: SMP-11V-BC (JST)

Partner connector

Housing: SMR-11V-B (JST)

Contact: SYM-001T-P0. 6 (Applicable wire : AWG#22～28)

Manual crimp tool: YRS-121

Fig. 10.5 Details of connectors for application (BJ3 side)

CONNECTOR

Page-18

10.3.2 Details of the additional axis connector

BJ3 side (intermediate connector)

(This pin layout is drawn seeing from the connection side of the robot side connector.)

Fig.10.6 The details of the additional axis motor connector

(This pin layout is drawn seeing from the connection side of the robot side connector.)

Fig.10.7 The details of the additional axis encoder connector

Connector type (CNA1) Housing

VLP-06V (JST) Partner connector Housing VLR-06V (JST) Retainer VLS-03V (JST) Contact SVM-42T-P2.0 (Applicable wire : AWG#22~16) Contact SVM-61T-P2.0 (Applicable wire : AWG#20~14)

Manual crimp tool:

YC-592:(AWG#22~16)

YC-590:(AWG#20~14)

Connector form (CNEA1,CNEA2) Housing

1-1827864-4 (AMP) Partner connector Housing 1-1903130-4 (AMP) Contact 1903116-2 (Applicable wire : AWG#28 - 22)

Manual crimp tool : 1762846-1

Page-19

11. Bypass Cable

11.1 Bypass cable connection outline figure (Option)

Bypass cable box

Standard wire-harness Bypass cable box

Robot (MC)

AX20 controller

Bypass cable

CNMB Cable

CNE cable

Page-20

12. Transport procedure

Safety measures against transport

The following describes precautions for transporting the robot. Fully understand the precautions for safe transport work.

Warning! The robot must be transported by personnel who have licenses required for slinging work, crane operation, forklift truck operation, and others. The weight of the robot and controller is listed in the Operating Manual and the Maintenance Manual. Check for the weight, and then handle them according to procedures suitable for the weight.

Warning! To lift the robot or the controller, follow the procedures specified in the Maintenance Manual. Following any procedures other than those specified will cause the robot to topple over or drop during transport, thus resulting in accidents.

Caution!

During transport or installation work of the robot, pay utmost care not to cause damage to wirings. Furthermore, after installing the robot, take protective measures such as using protective guards so that the wirings will not be damaged by workers or other persons, or forklift trucks or else.

To transport the robot, make it a rule to use a crane. First, put the robot into the configuration shown in figure below and mount the two carrier brackets dedicated to the transport of the robot to both sides of the robot frame. Then, lift the robot using four hanging wires. Fix these dedicated brackets with the two M16 X 35 bolts. The tightening torque is 287

N･m. Recommended length of the hanging wires is 3 m.


Fig. 13.1 Transport procedure

Lifting JIG (option)

Page-21

13. Installation (specification which contains a robot) 1. Delivery condition

Because the expense is different, which form to choose be sufficiently examined.

Condition Details

1 Delivery on the truck Robot is delivered on the truck near the entrance of customer’s plant.

2 Delivery after installation and test-run Robot is installed and test-run done.

3 Delivery after installation and test-run with work piece After style 2, teaching with work piece is done.

2. Operation and maintenance education

The special spot operation guide and the special spot preservation guide are the outside of the estimation. Also, there is schooling system in the Toyama factory, too. Consult with each NACHI-FUJIKOSHI office for the details. 3. The earth wire construction of controller is class D earthing things above mentioned are

necessary.

4. Consuming power

Peak power 5.0kVA

Waiting status with servo ON 0.78kVA

14. Paint color Standard color Controller cabinet Munsell 10GY9/1 Robot body Munsell 2.5YR-5.5/14

15. Warranty Elapse of 1 year after delivery. The specification and externals described in this specifications might change without a previous notice for the improvement.

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